I have a Jetson Orin Nano Super running Jetpack 6.2, I followed the NVIDIA Isaac ROS documentation to set up the Isaac ROS AprilTag docker container for both Rosbag launch file and USB Camera. Both examples work fine without any problems. Now I would like to use the Luxonis Oak-D-Pro Wide instead of the webcam. When I attempt to install the DepthAI ROS package from binaries with sudo apt install ros-humble-depthai-ros I get errors saying files for depthai-ros can't be fetched.

The three commands that I used are (the full terminal output is at the end):

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && ./scripts/run_dev.sh

sudo apt update

sudo apt install ros-humble-depthai-ros

How can I fix this issue and successfully install/run depthai-ros from binaries inside the docker container? Anyone had a similar experience? Thanks.

jetson@jetson-desktop:~$ cd ${ISAAC_ROS_WS}/src/isaac_ros_common && ./scripts/run_dev.sh

Launching Isaac ROS Dev container with image key aarch64.ros2_humble.mine: /home/jetson/workspaces/isaac_ros-dev/

Building aarch64.ros2_humble.mine base as image: isaac_ros_dev-aarch64

Building layered image for key aarch64.ros2_humble.mine as isaac_ros_dev-aarch64

Using configured docker search paths: /home/jetson/workspaces/isaac_ros-dev/docker /home/jetson/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker

Checking if base image nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble-mine_f75606b2b8327a6c0c551530ba6e00f9 exists on remote registry

Checking if base image nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_1c5650affa65caa30889ccf92f639896 exists on remote registry

Found pre-built base image: nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_1c5650affa65caa30889ccf92f639896

aarch64-ros2_humble_1c5650affa65caa30889ccf92f639896: Pulling from nvidia/isaac/ros

Digest: sha256:9f8c03f43634a043a042bc8e3656ab67c592bdb84c038a31642683b2bd0009ba

Status: Image is up to date for nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_1c5650affa65caa30889ccf92f639896

nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_1c5650affa65caa30889ccf92f639896

Finished pulling pre-built base image: nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_1c5650affa65caa30889ccf92f639896

Resolved the following 1 Dockerfiles for target image: aarch64.ros2_humble.mine

/home/jetson/workspaces/isaac_ros-dev/docker/Dockerfile.mine

Building /home/jetson/workspaces/isaac_ros-dev/docker/Dockerfile.mine as image: isaac_ros_dev-aarch64 with base: nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_1c5650affa65caa30889ccf92f639896

[+] Building 0.3s (6/6) FINISHED docker:default

=> [internal] load build definition from Dockerfile.mine 0.0s

=> => transferring dockerfile: 174B 0.0s

=> WARN: InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or inv 0.0s

=> [internal] load metadata for nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_1c5650affa65caa3 0.0s

=> [internal] load .dockerignore 0.0s

=> => transferring context: 2B 0.0s

=> [1/2] FROM nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_1c5650affa65caa30889ccf92f639896 0.0s

=> CACHED [2/2] RUN apt update && apt install -y ros-humble-isaac-ros-apriltag ros-humble-isa 0.0s

=> exporting to image 0.0s

=> => exporting layers 0.0s

=> => writing image sha256:45b565d5c6d7d97989ea54bfa7eba9109444d064644c6f6fce292dd5a563d3fa 0.0s

=> => naming to docker.io/library/isaac_ros_dev-aarch64 0.0s

1 warning found (use docker --debug to expand):

- InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 2)

Running isaac_ros_dev-aarch64-container

Creating non-root container 'admin' for host user uid=1000:gid=1000

* Stopping hotplug events dispatcher systemd-udevd [ OK ]

* Starting hotplug events dispatcher systemd-udevd [ OK ]

To run a command as administrator (user "root"), use "sudo <command>".

See "man sudo_root" for details.

admin@jetson-desktop:/workspaces/isaac_ros-dev$ sudo apt update

Hit:1 https://dl.yarnpkg.com/debian stable InRelease

Hit:2 http://ports.ubuntu.com/ubuntu-ports jammy InRelease

Hit:3 https://repo.download.nvidia.com/jetson/common r36.4 InRelease

Get:4 http://ports.ubuntu.com/ubuntu-ports jammy-updates InRelease [128 kB]

Hit:5 https://deb.nodesource.com/node_18.x nodistro InRelease

Hit:6 https://repo.download.nvidia.com/jetson/t234 r36.4 InRelease

Get:7 http://packages.ros.org/ros2/ubuntu jammy InRelease [4,682 B]

Get:8 http://ports.ubuntu.com/ubuntu-ports jammy-backports InRelease [127 kB]

Get:9 http://ports.ubuntu.com/ubuntu-ports jammy-security InRelease [129 kB]

Get:10 https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/arm64 InRelease [1,580 B]

Hit:11 https://ppa.launchpadcontent.net/mosquitto-dev/mosquitto-ppa/ubuntu jammy InRelease

Hit:12 https://isaac.download.nvidia.com/isaac-ros/release-3 jammy InRelease

Get:13 http://ports.ubuntu.com/ubuntu-ports jammy-updates/universe arm64 Packages [1,528 kB]

Err:7 http://packages.ros.org/ros2/ubuntu jammy InRelease

  The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics info@osrfoundation.org

Get:14 http://ports.ubuntu.com/ubuntu-ports jammy-updates/main arm64 Packages [2,960 kB]

Get:15 http://ports.ubuntu.com/ubuntu-ports jammy-security/main arm64 Packages [2,655 kB]

Get:16 https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/arm64 Packages [305 kB]

Fetched 7,838 kB in 4s (2,016 kB/s)

Reading package lists... Done

Building dependency tree... Done

Reading state information... Done

105 packages can be upgraded. Run 'apt list --upgradable' to see them.

W: https://dl.yarnpkg.com/debian/dists/stable/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.

W: https://repo.download.nvidia.com/jetson/common/dists/r36.4/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.

W: https://repo.download.nvidia.com/jetson/t234/dists/r36.4/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.

W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://packages.ros.org/ros2/ubuntu jammy InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics info@osrfoundation.org

W: https://isaac.download.nvidia.com/isaac-ros/release-3/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.

W: Failed to fetch http://packages.ros.org/ros2/ubuntu/dists/jammy/InRelease The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics info@osrfoundation.org

W: Some index files failed to download. They have been ignored, or old ones used instead.

admin@jetson-desktop:/workspaces/isaac_ros-dev$ sudo apt install ros-humble-depthai-ros

Reading package lists... Done

Building dependency tree... Done

Reading state information... Done

The following additional packages will be installed:

  ros-humble-depthai ros-humble-depthai-bridge ros-humble-depthai-descriptions

  ros-humble-depthai-examples ros-humble-depthai-filters ros-humble-depthai-ros-driver

  ros-humble-depthai-ros-msgs ros-humble-ffmpeg-image-transport-msgs ros-humble-foxglove-msgs

  ros-humble-rviz-imu-plugin

The following NEW packages will be installed:

  ros-humble-depthai ros-humble-depthai-bridge ros-humble-depthai-descriptions

  ros-humble-depthai-examples ros-humble-depthai-filters ros-humble-depthai-ros

  ros-humble-depthai-ros-driver ros-humble-depthai-ros-msgs ros-humble-ffmpeg-image-transport-msgs

  ros-humble-foxglove-msgs ros-humble-rviz-imu-plugin

0 upgraded, 11 newly installed, 0 to remove and 105 not upgraded.

Need to get 84.1 MB of archives.

After this operation, 241 MB of additional disk space will be used.

Do you want to continue? [Y/n] y

Get:1 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai arm64 2.30.0-1jammy.20250320.224137 [24.4 MB]

Err:2 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai-ros-msgs arm64 2.11.2-1jammy.20250326.040302

  404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

Get:3 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-ffmpeg-image-transport-msgs arm64 1.1.2-1jammy.20250325.215910 [46.3 kB]

Err:4 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai-bridge arm64 2.11.2-1jammy.20250410.094011

  404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

Err:5 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai-descriptions arm64 2.11.2-1jammy.20250410.115644

  404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

Get:6 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-foxglove-msgs arm64 2.3.0-1jammy.20250326.020803 [502 kB]

Err:7 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-rviz-imu-plugin arm64 2.1.5-1jammy.20250410.095721

  404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

Err:8 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai-examples arm64 2.11.2-1jammy.20250410.120403

  404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

Err:9 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai-filters arm64 2.11.2-1jammy.20250410.070448

  404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

Err:10 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai-ros-driver arm64 2.11.2-1jammy.20250410.122104

  404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

Err:11 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai-ros arm64 2.11.2-1jammy.20250410.124016

  404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

Fetched 24.9 MB in 7s (3,665 kB/s)

E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-depthai-ros-msgs/ros-humble-depthai-ros-msgs_2.11.2-1jammy.20250326.040302_arm64.deb 404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-depthai-bridge/ros-humble-depthai-bridge_2.11.2-1jammy.20250410.094011_arm64.deb 404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-depthai-descriptions/ros-humble-depthai-descriptions_2.11.2-1jammy.20250410.115644_arm64.deb 404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-rviz-imu-plugin/ros-humble-rviz-imu-plugin_2.1.5-1jammy.20250410.095721_arm64.deb 404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-depthai-examples/ros-humble-depthai-examples_2.11.2-1jammy.20250410.120403_arm64.deb 404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-depthai-filters/ros-humble-depthai-filters_2.11.2-1jammy.20250410.070448_arm64.deb 404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-depthai-ros-driver/ros-humble-depthai-ros-driver_2.11.2-1jammy.20250410.122104_arm64.deb 404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-depthai-ros/ros-humble-depthai-ros_2.11.2-1jammy.20250410.124016_arm64.deb 404 Not Found [IP: <ip_value_but_removed_before_posting_topic>]

E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

admin@jetson-desktop:/workspaces/isaac_ros-dev$